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Control de Robot con Joystick e interfaz VGA implementado en FPGA-Nexys 2

Control de Robot con Joystick e interfaz VGA implementado en FPGA-Nexys 2

          
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About the Book

Tesis del año 2015 en eltema Ingeniería - Robótica, Nota: -, Materia: Licenciatura en Ingenieria en Mecatrónica, Idioma: Español, Resumen: El presente trabajo de tesis consiste en diseñar un brazo robótico de 4 grados de libertad (GDL), utilizando servomotores como actuadores, y como elemento terminal cuenta con un gripper que tiene la función de manipular objetos. El robot tiene como objetivo ser fácil de operar por el usuario utilizando un Joystick frecuentemente usado por consolas de videojuegos. El prototipo es fabricado en acrílico, así como la programación se realiza en lenguaje de descripción de hardware VHDL, implementado en una tarjeta Nexys-2 que cuenta con una FPGA Xilinx Spartan-3E que consta de 500 000 compuertas lógicas. Tiene una interfaz VGA de resolución 640 x 480 pixeles en la cual se visualizaran instrucciones e indicaciones del proceso de operación, así como el control de mando "Joystick" que será el instrumento en el cual el usuario podrá ingresar de forma manual las instrucciones al robot. El funcionamiento básico consiste en que el usuario pueda asignarle hasta 31 puntos de posición al robot, estas serán guardadas en una memoria RAM tipo FIFO (lo primero que entra es lo primero que sale) contenida en el FPGA. Cuando el usuario ya haya ingresado los puntos de posición necesarios, los datos serán leídos de la memoria RAM y enviados a los servomotores de forma sincronizada. La secuencia de movimiento podrá ejecutarse solo una vez o de manera cíclica. La tarea principal del robot es llevar un objeto de un punto a otro, esto de manera manual o completamente automática y reprogramable. A excepción del momento en que se programa el FPGA, el robot es totalmente independiente de una PC.


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Product Details
  • ISBN-13: 9783668045378
  • Publisher: Grin Publishing
  • Binding: Paperback
  • Language: Spanish
  • Returnable: N
  • Spine Width: 5 mm
  • Width: 148 mm
  • ISBN-10: 3668045372
  • Publisher Date: 27 Oct 2015
  • Height: 210 mm
  • No of Pages: 82
  • Series Title: Spanish
  • Weight: 118 gr


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